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Revision 586, 0.5 kB
(checked in by smidl, 16 years ago)
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redesign of ctrl LQ control for arx
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| 1 | #define BDMLIB |
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| 2 | #include "UnitTest++.h" |
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| 3 | #include "design/ctrlbase.h" |
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| 4 | |
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| 5 | using namespace bdm; |
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| 6 | |
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| 7 | TEST(test_LQG) { |
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| 8 | LQG reg; |
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| 9 | shared_ptr<StateSpace<fsqmat> > stsp=new StateSpace<fsqmat>; |
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| 10 | // 2 x 1 x 1 |
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| 11 | stsp-> set_parameters(eye(2), ones(2,1), ones(1,2), ones(1,1), /* Q,R */ eye(2), eye(1)); |
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| 12 | reg.set_system(stsp); // A, B, C |
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| 13 | reg.set_control_parameters(eye(1), eye(1), vec_1(1.0), 6); //Qy, Qu, horizon |
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| 14 | |
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| 15 | reg.redesign(); |
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| 16 | CHECK_CLOSE(reg.apply("0.5, 1.1","0.0")(0) /*convert vec to double*/, -0.248528137234392, 0.0001); |
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| 17 | } |
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